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<p>Interface between simulator and hardware using LCM.  
<a href="#details">More...</a></p>
<div class="textblock"><code>#include &lt;<a class="el" href="../../d9/d53/_robot_parameters_8h_source.html">ControlParameters/RobotParameters.h</a>&gt;</code><br />
<code>#include &lt;<a class="el" href="../../d3/dc7/_quadruped_8h_source.html">Dynamics/Quadruped.h</a>&gt;</code><br />
<code>#include &lt;<a class="el" href="../../dc/d87/_periodic_task_8h_source.html">Utilities/PeriodicTask.h</a>&gt;</code><br />
<code>#include &lt;cheetah_visualization_lcmt.hpp&gt;</code><br />
<code>#include &lt;condition_variable&gt;</code><br />
<code>#include &lt;lcm-cpp.hpp&gt;</code><br />
<code>#include &lt;mutex&gt;</code><br />
<code>#include &lt;thread&gt;</code><br />
<code>#include &quot;<a class="el" href="../../d2/de7/_graphics3_d_8h_source.html">Graphics3D.h</a>&quot;</code><br />
<code>#include &quot;control_parameter_request_lcmt.hpp&quot;</code><br />
<code>#include &quot;control_parameter_respones_lcmt.hpp&quot;</code><br />
<code>#include &quot;gamepad_lcmt.hpp&quot;</code><br />
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<p><a href="../../d4/df6/_robot_interface_8h_source.html">Go to the source code of this file.</a></p>
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<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d6/d05/class_robot_interface.html">RobotInterface</a></td></tr>
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<tr class="memitem:a9eb04f041ce2b07338f2a13eabd5f390"><td class="memItemLeft" align="right" valign="top">#define&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d4/df6/_robot_interface_8h.html#a9eb04f041ce2b07338f2a13eabd5f390">ROBOT_INTERFACE_UPDATE_PERIOD</a>&#160;&#160;&#160;(1.<a class="el" href="../../dc/dd7/test__casadi_8cpp.html#ae20d7fba59865a21504b65cdb44cbfe5">f</a> / 60.<a class="el" href="../../dc/dd7/test__casadi_8cpp.html#ae20d7fba59865a21504b65cdb44cbfe5">f</a>)</td></tr>
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<tr class="memitem:a4887ebe3c5bc32bb6aea5503badec739"><td class="memItemLeft" align="right" valign="top">#define&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d4/df6/_robot_interface_8h.html#a4887ebe3c5bc32bb6aea5503badec739">INTERFACE_LCM_NAME</a>&#160;&#160;&#160;&quot;interface&quot;</td></tr>
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<tr class="memitem:ab0e1910a09b5190bff3f68e23fd0717c"><td class="memItemLeft" align="right" valign="top">#define&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d4/df6/_robot_interface_8h.html#ab0e1910a09b5190bff3f68e23fd0717c">TIMES_TO_RESEND_CONTROL_PARAM</a>&#160;&#160;&#160;5</td></tr>
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<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
<div class="textblock"><p>Interface between simulator and hardware using LCM. </p>

<p>Definition in file <a class="el" href="../../d4/df6/_robot_interface_8h_source.html">RobotInterface.h</a>.</p>
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          <td class="memname">#define INTERFACE_LCM_NAME&#160;&#160;&#160;&quot;interface&quot;</td>
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<p>Definition at line <a class="el" href="../../d4/df6/_robot_interface_8h_source.html#l00023">23</a> of file <a class="el" href="../../d4/df6/_robot_interface_8h_source.html">RobotInterface.h</a>.</p>

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          <td class="memname">#define ROBOT_INTERFACE_UPDATE_PERIOD&#160;&#160;&#160;(1.<a class="el" href="../../dc/dd7/test__casadi_8cpp.html#ae20d7fba59865a21504b65cdb44cbfe5">f</a> / 60.<a class="el" href="../../dc/dd7/test__casadi_8cpp.html#ae20d7fba59865a21504b65cdb44cbfe5">f</a>)</td>
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</div><div class="memdoc">

<p>Definition at line <a class="el" href="../../d4/df6/_robot_interface_8h_source.html#l00022">22</a> of file <a class="el" href="../../d4/df6/_robot_interface_8h_source.html">RobotInterface.h</a>.</p>

</div>
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<a class="anchor" id="ab0e1910a09b5190bff3f68e23fd0717c"></a>
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          <td class="memname">#define TIMES_TO_RESEND_CONTROL_PARAM&#160;&#160;&#160;5</td>
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<p>Definition at line <a class="el" href="../../d4/df6/_robot_interface_8h_source.html#l00024">24</a> of file <a class="el" href="../../d4/df6/_robot_interface_8h_source.html">RobotInterface.h</a>.</p>

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